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IEEE/ASME Transactions on Mechatronics > 2011 > 16 > 3 > 498 - 508
IEEE Transactions on Automatic Control > 2009 > 54 > 8 > 1918 - 1924
IEEE/ASME Transactions on Mechatronics > 2009 > 14 > 1 > 93 - 104
IEEE Transactions on Automatic Control > 2008 > 53 > 10 > 2402 - 2408